JP4729905B2 - Vehicle notification device and program - Google Patents

Vehicle notification device and program Download PDF

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Publication number
JP4729905B2
JP4729905B2 JP2004332627A JP2004332627A JP4729905B2 JP 4729905 B2 JP4729905 B2 JP 4729905B2 JP 2004332627 A JP2004332627 A JP 2004332627A JP 2004332627 A JP2004332627 A JP 2004332627A JP 4729905 B2 JP4729905 B2 JP 4729905B2
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Prior art keywords
irradiation
processing means
intersection
vehicle
point
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JP2006142888A (en
Inventor
秀人 宮崎
智氣 窪田
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アイシン・エィ・ダブリュ株式会社
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/26Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • B60Q1/525Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies indicating risk of collision between vehicles or with pedestrians
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3697Input/output arrangements for on-board computers output of additional, non-guidance related information, e.g. low fuel level, fuel efficient driving, gear change, speeding, dangerous curve ahead, slippery road, school zone, speed traps, driving behaviour feedback, advertising, virtual billboards or road signs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50Projected signs, i.e. symbol or information is projected onto the road

Description

  The present invention relates to a vehicle notification device and a program.

Conventionally, at intersections with poor visibility (including junctions), there are cases where accidents of encounter between vehicles, vehicles and pedestrians may occur, so when a vehicle approaches an intersection, There is provided a vehicle notification device that notifies a pedestrian or the like of the presence of the vehicle. In the vehicle notification device, the laser light generating means is disposed in the vehicle, and when the vehicle is traveling straight, the laser light is generated forward, and during steering, the laser light is generated in the steering direction to generate a road surface. Is irradiated. Further, the irradiation direction of the laser light is changed according to the braking distance of the vehicle (see, for example, Patent Document 1).
JP-A-6-270752

  However, in the conventional vehicle alarm device, even if an attempt is made to irradiate the road surface at an intersection or the like, the distance from the vehicle to the intersection or the like cannot be accurately known, and therefore the road surface at the intersection or the like cannot be reliably irradiated.

  Therefore, the presence of the own vehicle cannot be reliably notified to other vehicles, pedestrians, and the like.

  An object of the present invention is to provide a vehicle notification device and a program that can solve the problems of the conventional vehicle notification device and can reliably notify the existence of the vehicle to other vehicles, pedestrians, and the like. .

Therefore, in the vehicle notification device of the present invention, based on the current position detection unit for detecting the own vehicle position, the point information acquisition processing means for acquiring the map data, the own vehicle position and the map data, An irradiation point setting processing means for setting an irradiation point at an intersection ahead of the vehicle, and an intersection ahead of the vehicle position based on information about the visibility of the intersection in the map data acquired by the point information acquisition processing means An intersection determination processing means for determining whether or not the line of sight is good, and for the intersection determined to have a poor line of sight by the intersection determination processing means, the irradiation light generation unit is driven to irradiate the irradiation light toward the irradiation point Irradiation processing means.
Then, the irradiation processing means corrects the irradiation point based on a monitoring result by a periphery monitoring device that captures a road sign around the vehicle, and calculates a distance from the vehicle position to the corrected irradiation point, An irradiation angle of the irradiation light is calculated based on the distance.

  According to the present invention, the irradiation light generation unit is driven based on the vehicle position and the map data, and the irradiation light is irradiated toward the predetermined irradiation point of the intersection. It is possible to reliably notify the presence of the vehicle.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a vehicle notification device according to an embodiment of the present invention.

  In FIG. 1, reference numeral 14 denotes an information terminal, for example, a navigation device as an in-vehicle device mounted on a vehicle. The navigation device 14 includes a GPS sensor 15 as a current location detection unit for detecting a current location, various types of data in addition to map data. A navigation process that functions as a computer based on the data recording unit 16 as an information recording unit in which the above information is recorded, various programs, data, and the like, and performs various arithmetic processes such as a navigation process based on the input information Unit 17, direction sensor 18 serving as a direction detection unit for detecting the vehicle direction, operation unit 34 serving as a first input unit for performing predetermined input when operated by a driver as an operator, a screen (not shown) A display unit 35 as a first output unit for performing various displays according to the image displayed on the vehicle and notifying the driver. A voice input unit 36 as a second input unit for performing predetermined input by voice, a voice output unit 37 as a second output unit for performing various displays by voice and notifying the driver, and communication A communication unit 38 as a transmission / reception unit functioning as a terminal is provided, and the navigation processing unit 17 includes a GPS sensor 15, a data recording unit 16, an orientation sensor 18, an operation unit 34, a display unit 35, a voice input unit 36, and a voice output unit. 37 and the communication unit 38 are connected.

  The navigation processing unit 17 functions as a computer based on various programs, data, and the like. The vehicle control unit 12 performs various arithmetic processes based on input information, and forwards the vehicle in front. The monitoring device 48, the display line recognition device 49 for recognizing the display line that divides the road lane, the periphery monitoring device 50 for monitoring the periphery of the vehicle, the laser light generation unit 53 as the irradiation light generation unit, and the laser light as the irradiation light An irradiation direction adjusting unit 54 for adjusting the irradiation direction is connected.

  Further, a sensor unit 40 as a vehicle information detection unit is connected to the navigation processing unit 17, and the sensor unit 40 detects the operation of the winker lever by the driver for moving the vehicle to the side. Turn signal sensor 41 as a direction movement operation detection unit, an accelerator sensor 42 as an engine load detection unit that detects an operation of an accelerator pedal by a driver, a brake sensor 43 as a brake detection unit that detects an operation of a brake pedal by the driver, A vehicle speed sensor 44 as a vehicle speed detection unit for detecting a vehicle speed, a throttle opening sensor 45 as a throttle opening detection unit for detecting a throttle opening indicating an acceleration request by the driver, and a steering operation as a steering member by the driver. The steering sensor 46 as a steering detection unit to detect, and the driver Including a shift position sensor 47 as a speed change operation detecting section for detecting a range selected by operating the shift operation section and the like. The shift position sensor 47 detects that a neutral range (N), a forward range (D), a low range (L), a reverse range (R), and a parking range (P) are selected. The winker sensor 41, the accelerator sensor 42, the brake sensor 43, the steering sensor 46, the shift position sensor 47, and the like constitute a driver operation information detection unit that detects vehicle operation information by the driver.

  The GPS sensor 15 detects the current location on the earth by receiving radio waves generated by an artificial satellite, and also detects the time. In the present embodiment, the GPS sensor 15 is used as the current position detection unit, but a distance sensor, a steering sensor, an altimeter, etc. (not shown) are used alone or in combination instead of the GPS sensor 15. You can also Further, a gyro sensor, a geomagnetic sensor, or the like can be used as the direction sensor 18.

  The data recording unit 16 includes a map database including map data files, and map data is recorded in the map database. The data recording unit 16 also records data for outputting predetermined information by the audio output unit 37. The map data includes intersection data related to intersections, node data related to nodes, road data related to road links, search data processed for searching, facility data related to facilities, and the like.

  The vehicle control unit 12 includes a CPU 13 as a control device that controls the entire vehicle, a RAM 51 as a first recording medium used as a working memory when the CPU 13 performs various arithmetic processes, a control program, and the like. ROM 52 as a second recording medium in which various programs are recorded, and a flash memory (not shown) as a third recording medium used for recording various data, programs, and the like. The navigation processing unit 17 includes a CPU 31 as a control device that controls the entire navigation device 14, a RAM 32 as a fourth recording medium used as a working memory when the CPU 31 performs various arithmetic processes, ROM 33 as a fifth recording medium on which various programs for searching for a route to the destination, route guidance, etc. are recorded in addition to the program for the destination, used for recording various data, programs, etc. And a flash memory (not shown) as a sixth recording medium. An MPU or the like can be used as the control device in place of the CPUs 13 and 31.

  In addition, the data recording unit 16 includes a disk (not shown) such as a hard disk, a CD, a DVD, and an optical disk as a seventh recording medium for recording the various data, and reads various data, A head (not shown) such as a read / write head for writing is provided. Note that a memory card or the like as an eighth recording medium can be used for the data recording unit 16.

  By the way, various programs can be recorded in the ROM 33 and various data can be recorded in the data recording unit 16, but the program, data, and the like can also be recorded on a disk or the like. In this case, the program, data, etc. can be read from a disk or the like and written to the flash memory. Therefore, the program, data, etc. can be updated by exchanging the disk or the like. Further, when an automatic transmission control device is mounted to control an automatic transmission (not shown) mounted on the vehicle, the control program, data, etc. for the automatic transmission control device are also stored in the disk or the like. Can be recorded. Further, the program, data, and the like can be received via the communication unit 38 and written into the flash memory of the navigation processing unit 17.

  The operation unit 34 is operated by the driver to correct the current location at the start of traveling, to input a departure point and a destination, to input a passing point, and to activate the communication unit 38. As the operation unit 34, a keyboard, a mouse, or the like disposed independently of the display unit 35 can be used. Further, as the operation unit 34, a predetermined input operation is performed by touching or clicking an image operation unit such as various keys, switches, and buttons displayed as images on the screen formed in the display unit 35. It is possible to use a touch panel that can be used.

  A display can be used as the display unit 35. Then, on various screens formed on the display unit 35, the vehicle position indicating the current location, a map, a searched route, guidance information along the searched route, traffic information, etc. are displayed, or until the next intersection in the searched route. In addition to displaying the distance and the direction of travel at the next intersection, the operation guidance, operation menu, and key guidance of the image operation unit, operation unit 34, voice input unit 36, etc. can be displayed. A multiplex broadcast program or the like can be displayed.

  The voice input unit 36 includes a microphone (not shown) and the like, and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and the search route, guidance information, traffic information, and the like are output from the voice output unit 37, for example, as voice synthesized by the voice synthesizer. .

  The communication unit 38 is arranged along the road with various types of information transmitted from a road traffic information center (not shown) such as a VICS (registered trademark) vehicle center as a first information provider. A beacon receiver for receiving as a radio beacon, an optical beacon or the like via a radio beacon device or an optical beacon device, an FM receiver for receiving as an FM multiplex broadcast via an FM broadcast station, or the like. Then, the beacon receiver receives traffic information, regulation information, parking lot information, traffic accident information, service area congestion status information, etc. as current traffic information, or the FM receiver in addition to the current traffic information. News, weather forecasts, etc. can be received as general information and FM multiplexed information. The beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  The communication unit 38 can also receive various information such as traffic information and general information from an information center (not shown) as the second information provider. For this purpose, the communication unit 38 and the communication unit of the information center are connected via a network (not shown), and a navigation system is constituted by the navigation device 14, the road traffic information center, the information center, the network, and the like.

  The forward monitoring device 48 includes a radar such as a laser radar, a millimeter wave radar, an ultrasonic sensor, or the like, or a combination thereof. As the vehicle surrounding information, an inter-vehicle distance, an inter-vehicle time, an approach speed to a preceding vehicle, a temporary stop Calculates approach speeds, approach speeds to obstacles, etc. for places (approach points from non-priority roads to priority roads, railroad crossings, intersections with blinking red lights, etc.), and monitors preceding vehicles, temporary stops, obstacles, etc. . In addition, the surroundings monitoring device 50 is a camera such as a CCD, C-MOS, etc., as a vehicle surrounding information. And processing the image data of the image of the captured object to determine the state of the intersection, the number of surrounding vehicles, the white line position, the stop line position, the road sign position, the traffic light color, etc. To monitor.

  Next, a basic operation of the navigation system having the above configuration will be described.

  First, when the operation unit 34 is operated by the driver and the navigation device 14 is activated, a navigation initialization processing unit (not shown) of the CPU 31 performs navigation initialization processing, and the current location detected by the GPS sensor 15 and The vehicle direction detected by the direction sensor 18 is read, and various data are initialized. Note that the matching processing means (not shown) of the CPU 31 performs matching processing, and the current location is on any road link based on the trajectory of the read current location and the shape and arrangement of each road link constituting the surrounding road. The current location is specified by determining whether it is located in the location.

  Subsequently, a first information acquisition processing unit (not shown) of the CPU 31 performs a first information acquisition process and reads out and acquires the map data from the data recording unit 16 or an information center or the like via the communication unit 38. Receive from and get. In addition, when acquiring from an information center, the said 1st information acquisition process means downloads the received map data to the flash memory etc. of the navigation processing part 17. Moreover, when acquiring map data via the communication part 38, a program can also be acquired.

  The display processing means (not shown) of the CPU 31 performs display processing, forms a map screen on the display unit 35, and displays the vehicle position, a map around the vehicle position, and the vehicle direction on the map screen. . Therefore, the driver can drive the vehicle according to the displayed vehicle position, the map around the vehicle position, and the vehicle direction.

  Further, when the driver operates the operation unit 34 to input a destination, a destination setting processing unit (not shown) of the CPU 31 performs a destination setting process to set the destination. Note that the departure place can be input and set as necessary. Moreover, a predetermined point can be registered in advance, and the registered point can be set as a destination.

  When the destination is set, the route search processing unit (not shown) of the CPU 31 performs route search processing, reads the current location, the destination, etc., and is represented by the current location based on the current location, the destination, and the map data. The route from the starting point to the destination is searched. Of the roads represented by the road data constituting the map data, roads other than the narrow streets are the roads that are subject to route search and route guidance.

  The route guidance processing means (not shown) of the CPU 31 performs route guidance processing and provides route guidance to the driver according to the searched route. For this purpose, the route display processing means of the route guidance processing means performs route display processing, reads the route data constituting the searched route, and displays the searched route on the map screen according to the route data.

If necessary, the voice output processing means of the route guidance processing means performs voice output processing and outputs the searched route by voice from the voice output unit 37 to provide route guidance.
By the way, at intersections with poor visibility (including four-way roads, T-shaped roads, merging points, etc.), accidents involving encounters between vehicles and between vehicles and pedestrians may occur. Therefore, in the vehicle alarm device, when the vehicle approaches an intersection or the like, the center of the intersection is irradiated with the laser beam generated by the laser beam generator 53, and other vehicles, pedestrians, etc. I am trying to inform you.

  Next, the operation of the vehicle notification device when irradiating laser light to, for example, the center of a four-way intersection will be described.

  FIG. 2 is a first flowchart showing the operation of the vehicle alarm device in the embodiment of the present invention, FIG. 3 is a first diagram showing a laser light irradiation state in the embodiment of the present invention, and FIG. FIG. 5 is a first diagram illustrating a method for determining an irradiation angle of a laser beam according to an embodiment of the present invention, and FIG. 6 is an embodiment of the present invention. FIG. 7 is a second diagram illustrating a method for determining the laser beam irradiation angle in the embodiment of the present invention, and FIG. 8 is a laser beam in the embodiment of the present invention. It is a 2nd figure explaining the irradiation angle of light.

  First, point information acquisition processing means (not shown) of the CPU 13 (FIG. 1) performs point information acquisition processing, determines whether there is a search route by the route search processing in the CPU 31, and if there is a search route, Map data is acquired, and an intersection registration processing unit (not shown) of the CPU 13 performs an intersection registration process to determine whether there is an intersection without a signal on the searched route. If there is an intersection without a signal, the intersection registration is performed. The processing means registers the intersection with no signal by recording it in the RAM 51.

  On the other hand, when there is no searched route, the point information acquisition processing means reads the current location and acquires map data around the current location.

  Subsequently, a travel processing unit (not shown) of the CPU 13 performs a travel process and causes the vehicle to travel.

  Next, an intersection determination processing unit (not shown) of the CPU 13 performs an intersection determination process to determine whether the line of sight of the intersection m1 ahead of the vehicle is good. In addition, the judgment whether the prospect of the front intersection m1 is good is, for example, the surroundings of the vehicle by the periphery monitoring device 50, for example, the wall of a house near the intersection m1 based on the front, side or rear monitoring. It is possible to make a judgment based on the presence / absence of a three-dimensional object, or based on information about the visibility of the intersection m1 recorded in advance in the intersection data, the presence / absence of a signal, and the like. Moreover, the judgment result of whether the prospect of the intersection m1 is good can be recorded in the data recording part 16 by learning, and can be registered.

  When the prospect of the intersection m1 ahead of the vehicle is poor, the preceding vehicle determination processing means (not shown) of the CPU 13 subsequently performs the preceding vehicle determination processing, and as shown in FIG. 3, the vehicle b is in front of the center of the intersection m1. When the vehicle reaches a point of a predetermined distance A0 (for example, 100 [m]), that is, an irradiation start point, the monitoring result by the front monitoring device 48 or the peripheral monitoring device 50 is read at the timing, that is, the irradiation timing. It is determined whether or not there is a preceding vehicle in front of b, that is, between the own vehicle position si (Xi, Yi) (i = 1, 2,..., n) represented by the current location and the intersection m1. If there is no preceding vehicle, the irradiation point setting processing means (not shown) of the CPU 13 performs irradiation point setting processing, and reads and sets the irradiation point a (Xs, Ys) recorded in advance in the data recording unit 16. Subsequently, the irradiation processing means (not shown) of the CPU 13 performs the irradiation processing, drives the laser light generation unit 53 based on the vehicle position si (Xi, Yi) and the map data, and the irradiation point a (Xs, Ys). ) Is irradiated with laser light. In the present embodiment, the irradiation point a (Xs, Ys) is set at the center of the intersection m1, but can be set at another predetermined point. Further, the host vehicle position si (Xi, Yi) while the vehicle b is traveling is calculated in consideration of the vehicle speed.

  As shown in FIG. 4, when there is a stop line k1, a road sign (not shown), etc. before the intersection m1, the stop line k1, a road sign, etc. are photographed by the camera, and the result of monitoring by the periphery monitoring device 50 is displayed. Based on this, a matching process can be performed. Therefore, the irradiation processing means matches the irradiation point a (Xs, Ys) and corrects the irradiation point a (Xs, Ys). As a result, the laser beam can be accurately irradiated toward the irradiation point a (Xs, Ys).

  By the way, when the laser beam generator 53 is driven to irradiate the laser beam, the vertical irradiation angle θi (i = 1, 2, etc.) for directing the laser beam generator 53 toward the irradiation point a (Xs, Ys). .., N) and the horizontal irradiation angle εi (i = 1, 2,..., N) need to be set. In this case, the irradiation angle θi represents the angle of the laser beam locus with respect to the vertical direction, and the irradiation angle εi represents the angle of the laser beam locus with respect to the traveling direction of the vehicle b.

For this purpose, the irradiation angle setting processing means of the irradiation processing means performs the irradiation angle setting processing, reads the irradiation point a (Xs, Ys) and the own vehicle position si (Xi, Yi), and are shown in FIGS. The distance Ai (i = 1, 2,..., N) from the vehicle position si (Xi, Yi) to the irradiation point a (Xs, Ys) is calculated. Subsequently, the irradiation angle setting processing means at each vehicle position si (Xi, Yi) based on the mounting height h expressed by the distance from the ground to the mounting position of the laser beam generator 53 and each distance Ai. Irradiation angle θi
θi = tan −1 Ai / h [°]
Is calculated and set. The angle when the laser beam generator 53 is viewed from the irradiation point a (Xs, Ys), that is, the elevation angle Pi (i = 1, 2,..., N) is:
Pi = 90−θi [°]
become. Further, as shown in FIG. 8, the displacement amount Bi (i = 1) represented by the distance in the width direction of the road between the own vehicle position si (Xi, Yi) and the irradiation point a (Xs, Ys). 2, ..., n)
Bi = Ys-Yi
Therefore, the irradiation angle setting processing means determines the irradiation angle εi based on the deviation amount Bi and the distance Ai.
εi = sin −1 Bi / Ai [°]
Is calculated and set. Subsequently, the irradiation direction adjustment processing unit of the irradiation processing unit performs irradiation direction adjustment processing, and operates the irradiation direction adjustment unit 54 based on the irradiation angles θi and εi to adjust the irradiation direction.

In the present embodiment, the irradiation angle setting processing means calculates and sets the irradiation angle θi in real time based on the distance Ai and the mounting height h, but as shown in FIG. The irradiation angle θi corresponding to the distance Ai can be read out and set by referring to the irradiation angle table formed in advance in the data recording unit 16. Further, the function f is used without using the irradiation angle table, and the irradiation angle θi.
θi = f (Ai)
Can be calculated.

  Then, when the distance Ai changes as the vehicle b travels, the irradiation angles θi and εi are changed corresponding to the distance Ai, so that the laser beam generator 53 is always set to the irradiation point a (Xs, Ys). ).

  The beam diameter of the laser beam is about 3 [mm], and the output of the laser beam generator 53 is classified into Class 1, 2 and 3A according to JISC6802 so that it is safe even if the naked eye is irradiated with the laser beam. Therefore, it is set to 5 [mW] or less.

  In this way, when the irradiation point a (Xs, Ys) of the intersection m1 is irradiated with the laser light, the irradiation processing means is based on the own vehicle position si (Xi, Yi) and the irradiation point a (Xs, Ys). Then, it is determined whether or not the vehicle b has passed the intersection m1, and when the vehicle b has passed the intersection m1, the irradiation of the laser light is terminated.

  Thus, in the present embodiment, since the distance Ai from the vehicle b to the intersection m1 can be accurately known based on the own vehicle position si (Xi, Yi) and the map data, the irradiation point at the intersection m1 Laser light can be reliably irradiated toward a (Xs, Ys).

  Therefore, it is possible to reliably notify the existence of the own vehicle to other vehicles, pedestrians and the like.

Next, a flowchart will be described.
Step S1: It is determined whether there is a searched route. If there is a searched route, the process proceeds to step S2, and if not, the process proceeds to step S5.
Step S2: Map data on the searched route is acquired.
Step S3: It is determined whether there is an intersection with no signal on the searched route. If there is an intersection with no signal on the searched route, the process proceeds to step S4, and if not, the process ends.
Step S4: An intersection with no signal is registered.
Step S5: Map data around the current location is acquired.
Step S6 The vehicle b is caused to travel.
Step S7: It is determined whether or not the prospect of the intersection m1 ahead is good. If the prospect of the intersection m1 ahead is good, the process is terminated, and if not good (the prospect is bad), the process proceeds to step S8.
Step S8: It is determined whether or not there is a preceding vehicle. If there is no preceding vehicle, the process proceeds to step S9, and if present, the process ends.
Step S9: Laser light is irradiated toward the irradiation point a (Xs, Ys) at the intersection m1.
Step S10: It is determined whether the vehicle has passed the intersection m1. If it passes through the intersection m1, the process proceeds to step S11. If it does not pass, the process returns to step S9.
Step S11: The laser beam irradiation is terminated and the process is terminated.

  Next, the operation of the vehicle notification device when irradiating the center of the intersection formed by the laser beam with the laser beam will be described.

  FIG. 9 is a second flowchart showing the operation of the vehicle notification device according to the embodiment of the present invention, and FIG. 10 is a third diagram showing a laser light irradiation state in the embodiment of the present invention.

  First, the point information acquisition processing means determines whether there is a search route by the route search processing in the CPU 31 (FIG. 1), and if there is a search route, acquires the map data on the search route, and the intersection registration processing The means performs an intersection registration process to determine whether or not there is a merge point on the searched route. If there is a merge point, the intersection registration processing means registers the merge point by recording it in the RAM 51.

  On the other hand, when there is no searched route, the point information acquisition processing means reads the current location and acquires map data around the current location.

  Subsequently, the travel processing means causes the vehicle to travel.

  Next, the intersection determination processing means determines whether or not the prospect of the junction point m2 ahead of the vehicle is good. In addition, the judgment whether the prospect of the junction point m2 ahead is good is based on the surroundings of the vehicle, for example, the front, the side, or the rear by the surroundings monitoring device 50, for example, a house close to the junction point m2. It is possible to make a judgment based on the presence or absence of a three-dimensional object such as a wall, or based on information about the visibility of the junction point m2 recorded in advance in the intersection data.

  In the case where the prospect of the front junction point m2 is poor, the preceding vehicle determination processing means then, as shown in FIG. 10, the vehicle b1 is located at a predetermined distance A0 (for example, 100 [ m]) at the irradiation start point, the monitoring result from the front monitoring device 48 or the peripheral monitoring device 50 is read at the irradiation timing, and from the front of the vehicle b1 to the junction point m2 from the own vehicle position si (Xi, Yi). In the meantime, it is determined whether there is a preceding vehicle. If there is no preceding vehicle, the irradiation point setting processing means performs an irradiation point setting process, and reads and sets the irradiation point a (Xs, Ys) recorded in the data recording unit 16. Subsequently, the irradiation processing means drives the laser beam generator 53 to irradiate the laser beam toward the irradiation point a (Xs, Ys) at the junction point m2.

  In this way, when the irradiation point a (Xs, Ys) at the junction point m2 is irradiated with the laser light, the irradiation processing means at the own vehicle position si (Xi, Yi) and the irradiation point a (Xs, Ys). Based on this, it is determined whether or not the vehicle b1 has passed the junction point m2, and when the vehicle b1 has passed the junction point m2, the irradiation of the laser light is terminated.

Next, a flowchart will be described.
Step S21: It is determined whether there is a searched route. If there is a searched route, the process proceeds to step S22, and if not, the process proceeds to step S25.
Step S22: Map data on the searched route is acquired.
Step S23: It is determined whether or not there is a meeting point m2 on the searched route. If there is a meeting point m2 on the searched route, the process proceeds to step S24, and if not, the process ends.
Step S24: The junction point m2 is registered.
Step S25: Map data around the current location is acquired.
Step S26 The vehicle b1 is caused to travel.
Step S27: It is determined whether or not the prospect of the junction point m2 ahead is good. If the prospect of the junction point m2 ahead is good, the process is terminated.
Step S28: It is determined whether or not there is a preceding vehicle. If there is no preceding vehicle, the process proceeds to step S29, and if present, the process is terminated.
Step S29: Laser light is irradiated toward the irradiation point a (Xs, Ys) at the merge point m2.
Step S30: It is determined whether or not the junction point m2 has been passed. When it passes through the junction point m2, the process proceeds to step S31, and when it does not pass, the process returns to step S29.
Step S31: The laser beam irradiation is terminated and the process is terminated.

  In the navigation device 14, when the GPS sensor 15 can detect the current location with high accuracy, and the data recording unit 16 is provided with a high accuracy database, the irradiation point a (Xs, Ys). If the GPS sensor 15 cannot detect the current location with high accuracy, or if the data recording unit 16 is not provided with a high accuracy database, Irradiation point a (Xs, Ys) cannot be irradiated with laser light with high accuracy.

  Therefore, in another embodiment, a function determination processing unit (not shown) of the CPU 13 performs a function determination process, based on the current location detected by the GPS sensor 15, the monitoring result by the forward monitoring device 48 or the peripheral monitoring device 50, and the like. Since the deviation Δs of the vehicle position si (Xi, Yi) is calculated and the deviation Δs is larger than the threshold value Δsth, the laser beam cannot be irradiated with high accuracy. Prohibit light irradiation.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a block diagram which shows the vehicle alerting | reporting apparatus in embodiment of this invention. It is a 1st flowchart which shows operation | movement of the vehicle alerting | reporting apparatus in embodiment of this invention. It is a 1st figure which shows the irradiation state of the laser beam in embodiment of this invention. It is a 2nd figure which shows the irradiation state of the laser beam in embodiment of this invention. It is a 1st figure which shows the determination method of the irradiation angle of the laser beam in embodiment of this invention. It is a 1st figure explaining the irradiation angle of the laser beam in embodiment of this invention. It is a 2nd figure which shows the determination method of the irradiation angle of the laser beam in embodiment of this invention. It is a 2nd figure explaining the irradiation angle of the laser beam in embodiment of this invention. It is a 2nd flowchart which shows operation | movement of the vehicle alerting | reporting apparatus in embodiment of this invention. It is a 3rd figure which shows the irradiation state of the laser beam in embodiment of this invention.

Explanation of symbols

12 Vehicle control unit 13, 31 CPU
15 GPS sensor 17 Navigation processing unit 53 Laser light generating unit 54 Irradiation direction adjusting unit

Claims (2)

  1. A current location detection unit for detecting the vehicle position;
    Point information acquisition processing means for acquiring map data;
    An irradiation point setting processing means for setting an irradiation point at an intersection ahead of the own vehicle position based on the own vehicle position and the map data;
    An intersection determination processing means for determining whether or not the prospect of the intersection ahead of the host vehicle position is good based on information about the visibility of the intersection in the map data acquired by the point information acquisition processing means;
    The intersection determination processing means has an irradiation processing means for driving the irradiation light generation unit and irradiating the irradiation light toward the irradiation point for the intersection determined to have poor visibility ,
    The irradiation processing means corrects the irradiation point based on a monitoring result by a periphery monitoring device that captures road signs around the vehicle, calculates a distance from the vehicle position to the corrected irradiation point, and calculates the distance. A vehicle notification device that calculates an irradiation angle of irradiation light based on the above .
  2. The computer, point information acquisition processing means for acquiring map data, based on the vehicle position and the map data detected by the current position detection unit, the irradiation point setting process for setting an irradiation point at an intersection ahead of the vehicle position An intersection determination processing means for determining whether or not the intersection ahead of the host vehicle position is good based on information about the quality of the intersection prospect in the map data acquired by the point information acquisition processing means , and For the intersection determined to have poor visibility by the intersection determination processing means, the irradiation light generation unit is driven to function as an irradiation processing means for irradiating the irradiation light toward the irradiation point,
    The irradiation processing means corrects the irradiation point based on a monitoring result by a periphery monitoring device that captures road signs around the vehicle, calculates a distance from the vehicle position to the corrected irradiation point, and calculates the distance. A program characterized in that an irradiation angle of irradiation light is calculated based on the above.
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US11/254,720 US7362241B2 (en) 2004-11-17 2005-10-21 Vehicle proximity warning apparatus, method and program
EP20050025135 EP1659029B1 (en) 2004-11-17 2005-11-17 Vehicle proximity warning apparatus and method
AT05025135T AT402044T (en) 2004-11-17 2005-11-17 Motor approach warning system and method
DE200560008339 DE602005008339D1 (en) 2004-11-17 2005-11-17 Motor vehicle proximity warning system and method

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US20060114125A1 (en) 2006-06-01
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US7362241B2 (en) 2008-04-22

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